Establishing a Software-Based Real-Time

Simulation Platform for a Controls

Laboratory for Training, Research
and Development, and Experimentation
Final Project Report

Power Systems Engineering Research Center

Empowering Minds to Engineer
the Future Electric Energy System

Establishing a Software-Based Real-Time

Simulation Platform for a Controls Laboratory
for Training, Research and Development, and
Experimentation
Final Project Report

Project Team
Ali Mehrizi-Sani, Project Leader
Saleh Ziaeinejad
Washington State University

PSERC Publication 15-01

August 2015

For information about this project, contact

Ali Mehrizi-Sani
School of Electrical Engineering and Computer Science
Energy Systems Innovation Center (ESIC)
Laboratory for Integration of Power Electronics (LIPE)
Washington State University
EME 35 - 355 NE Spokane Street
Pullman, WA 99164-2752
Tel: +1 (509) 335-6249
Fax: +1 (509) 335-3818
Email: mehrizi@eecs.wsu.edu
Webpage: http://eecs.wsu.edu/~mehrizi
Power Systems Engineering Research Center
The Power Systems Engineering Research Center (PSERC) is a multi-university Center
conducting research on challenges facing the electric power industry and educating the
next generation of power engineers. More information about PSERC can be found at the
Centers website: http://www.pserc.org.

For additional information, contact:

Power Systems Engineering Research Center
Arizona State University
527 Engineering Research Center
Tempe, Arizona 85287-5706
Phone: 480-965-1643
Fax: 480-965-0745

Notice Concerning Copyright Material

PSERC members are given permission to copy without fee all or part of this publication
for internal use if appropriate attribution is given to this document as the source material.
This report is available for downloading from the PSERC website.
2015 Washington State University. All rights reserved.

Acknowledgements
This is the final report for the Power Systems Engineering Research Center (PSERC) research
project titled Establishing a Software-Based Real-Time Simulation Platform for a Controls Laboratory for Training, Research and Development, and Experimentation (project T-54G). We express
our appreciation for the support provided by PSERC industry members and by the National Science
Foundation under the Industry / University Cooperative Research Center program.
We wish to thank our industry advisors, Juan Castandea and Andy Paylan from Southern
California Edison. We also thank Om Nayak (Nayak Corporation) and Craig Muller and Dharshana Muthumuni (Manitoba HVDC Research Centre) for the discussions about PSCAD/EMTDC
software tool.

Executive Summary
A distribution system may include distributed energy resources (DER), capacitors, and power
electronic devices such as active filters and power factor correctors. A central controller has a
supervisory role over the local controllers. In the process of designing the central and local controllers, one key requirement is their evaluation with simulation tools. Traditionally, the controllers
are evaluated with either offline or real-time simulators. The first approach is not comprehensive
since it can not interface to the physical controller hardware, and the second approach is expensive.
This project develops a software-based real-time simulator, which is a simple but useful tool for
evaluating the controller hardware that will eventually implement the control algorithms in the field.
In this project, the distributed system is simulated in PSCAD (an offline power system simulator)
and the control algorithms are implemented in physical controller hardware. Two structures are
developed for interfacing the simulation environment with the controller hardware. An algorithm is
proposed that enforces PSCAD to run in real-time. Therefore, the developed interfacing structure
and real-time enforcement scheme provide a hardware-in-the-loop (HIL) real-time simulation tool
that can test the performance of controllers in a system.

ii

Table of Contents
1 Introduction
1.1 Statement of Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Research Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Organization of Report . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Software-Based Real-Time Simulation
2.1 Software Comparison . . . . . . . . . . . . . . . . . . . . .
2.2 Study System . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 HIL Simulation Using PSCAD, MATLAB, and LabVIEW
2.4 HIL Simulation Using PSCAD and LabVIEW . . . . . . .
2.5 Synchronizing Real-Time Simulation . . . . . . . . . . . .

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3 HIL Real-Time Simulation Results

16
3.1 Results of the HIL Real-Time Simulation Case Studies . . . . . . . . . . . . . . . . . 16
3.2 Video Demonstration of the Simulation Case Studies . . . . . . . . . . . . . . . . . . 20
4 Conclusion
23
4.1 Contributions and Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.2 Future Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
A Datasheets

25

References

33

iii

List of Figures
2.1
2.2
2.3

2.4

2.5
2.6
2.7
2.8
2.9
2.10

2.11
2.12
2.13
2.14
2.15
2.16
2.17

3.1
3.2
3.3
3.4
3.5
3.6

SCE distribution feeder chosen for the case studies. . . . . . . . . . . . . . . . . . .

Reduced SCE feeder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Comparison of the real and reactive powers (Ps and Qs ) supplied to the original
and reduced SCE feeders when all three capacitors are switched off: (a) the original
feeder; (b) the reduced feeder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Comparison of the real and reactive powers (Ps and Qs ) supplied to the original
and reduced SCE feeders when all three capacitors are switched on: (a) the original
feeder; (b) the reduced feeder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HIL simulation using MATLAB as the interface. . . . . . . . . . . . . . . . . . . .
Connecting MATLAB to PSCAD using a custom component. . . . . . . . . . . . .
Generation of an impulse train signal to trigger the MATLAB-PSCAD interface
component. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fortran code to interface MATLAB to PSCAD. . . . . . . . . . . . . . . . . . . . .
Sample MATLAB code interfaced to PSCAD. . . . . . . . . . . . . . . . . . . . . .
Using a LabVIEW layout as the interface of the text files and DAQ module: (a)
reading from text files and writing to DAQ module; (b) reading from DAQ module
and writing to the text files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Custom PSCAD component to manipulate text files. . . . . . . . . . . . . . . . . .
Fortran code to manipulate text files. . . . . . . . . . . . . . . . . . . . . . . . . . .
HIL simulation without MATLAB. . . . . . . . . . . . . . . . . . . . . . . . . . . .
HIL real-time simulation with multiple external controllers interfaced to the real-time
simulator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fortran code to find the system time. . . . . . . . . . . . . . . . . . . . . . . . . . .
Timeline of the proposed real-time simulation. . . . . . . . . . . . . . . . . . . . .
Difference between the real time and the simulation time of a sample similation case
study without and with the proposed real-time enforcing scheme. . . . . . . . . . .
Implemented setup of the proposed software-based HIL real-time simulation.
Using oscilloscope for observing the single phase voltage of a bus. . . . . . . .
Simulated distribution feeder. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Hysteresis controllers implemented in the external controller. . . . . . . . . .
NI-cRIO 9024 and input/output modules. . . . . . . . . . . . . . . . . . . . .
Hysteresis controllers implemented in NI-cRIO through a LabVIEW interface.

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3.7

3.8

4.1

HIL real-time simulation results (readings of PSCAD plots): (a) voltages of the
capacitor buses when the external controller is not interfaced to the simulation and
both capacitors are switched off; (b) voltages of the capacitor buses when the external
controller is interfaced to the simulation; (c) commands of the capacitor switches in
the presence of the external controller (0 V means on, 5 V means off). . . . . . . . . 20
HIL real-time simulation results (measurements of the physical oscilloscope): (a)
voltages of the capacitor buses when the external controller is not interfaced to
the simulation and both capacitors are switched off (0.0125 pu/div); (b) voltages
of the capacitor buses when the external controller is interfaced to the simulation
(0.0125 pu/div); (c) commands of the capacitor switches in the presence of the
external controller (0 V means on, 5 V means off) (2 V/div). . . . . . . . . . . . . . 22
Improving the capabilities of the introduced HIL real-time simulation by using parallel computers to run a PSCAD file (recommended future work). . . . . . . . . . . . 24

List of Tables
2.1

Comparison of three simulation programs for HIL real-time simulation

vi

Chapter 1

Introduction
1.1

Statement of Problem

A distribution system may include distributed energy resources (DER), capacitors, and power
electronic devices such as active filters and power factor correctors. Each of these components is
controlled by a dedicated local controller [1], [2]. A central controller has a supervisory role over
the local controllers [3], [4]. Design of the local controllers and the central controller is one of the
key challenges for a distribution system operator [5].
One key question in the design of the local and central controllers is how to evaluate their performance. One simple solution is to use an offline simulation package such as MATLAB/Simulink,
PSCAD/EMTDC, and DigSILENT PowerFactory. In an offline solution, the entire distribution
system together with all the local and central controllers need to be implemented in the simulation environment [6]. Although this solution enables a primary evaluation of the controllers, its
shortcomings are the following:
An offline simulation software is unable to verify if a specific controller hardware is able
to handle the computational burden of a given control algorithm [7]. Therefore, an offline
simulator is not a useful benchmark tool for selecting the controller hardware.
Most offline simulation software tools are unable to consider communication delays. The
delays that occur in physical systems can affect the performance of the system and result in
the failure of the designed controllers. Lack of the ability of an offline simulator to consider
such nonidealities of real systems makes it an unreliable measure of the effectiveness of the
controllers.

To devise a solution for these shortcomings, hardware-in-the-loop (HIL) real-time simulation

is employed. In HIL real-time simulation, the power system is simulated in a real-time simulator
and the control algorithm is simulated in the physical hardware that will eventually implement the
controllers in the field. The real-time simulator and the controller hardware are interfaced through
digital and analog input/output (I/O) channels as necessary and applicable [8].
In HIL real-time simulation, a key requirement is that the simulation time should be kept the
same as the wall clock time (real time). If the simulation time runs slower or faster than real
time, its results are not valid. This is especially important if the controller implements a control
algorithm that takes actions based on the time (e.g., a PI controller).
Several companies are involved in developing real-time simulators. Examples are RTDS Technologies, Inc. (producer of RTDS simulator), Opal-RT Technologies (producer of OP4510, OP5600,
1

and OP7020), and Typhoon HIL (producer of HIL 4 Series and HIL 6 Series). All the real-time
simulators can be used to evaluate the performance of the controllers of a distribution system.
However, two factors limit their application. First, since the software and hardware architecture
of real-time simulators is complex, they tend to be expensive [9]. Second, since the real-time simulators are designed to perform a single task at a time, their availability is limited. Since the
utilities tend to use a purchased real-time simulator for several purposes (e.g., training, research,
and development), this limitation in availability hampers the usefulness of the commercial real-time
simulators.

1.2

Research Objectives

The goal of this project is to develop a software-based solution for HIL real-time evaluation of
the local and central controllers of a distribution system. The developed software-based real-time
simulator is able to interface to external controllers and verify their performance.

1.3

Organization of Report

The rest of this report is organized as follows: Chapter 2 compares different offline power system
simulators for selection of the most suitable software tool for integration with external controllers.
With the chosen simulation software, an example distribution system is modeled, and the reason
and the approach for reducing the size of this system are discussed. Two methods for interfacing the simulation environment to external controllers are introduced, and their advantages and
disadvantages are discussed. Also a method for synchronising the real-time simulation is proposed.
Chapter 3 presents the results of an HIL real-time simulation case study. In that case study, a
control algorithm for a sample distribution system is implemented by an external controller that is
interfaced to the simulation environment.
Chapter 4 presents the concluding remarks and recommends future work.

Chapter 2

Software-Based Real-Time Simulation

2.1

Software Comparison

In this section, the selection of a simulation tool as the base for the proposed software-based realtime simulator is discussed. Since the goal is to simulate the controllers of a distribution feeder, the
suitable power system simulator needs to have the ability to model most power system components
and systems. In addition, it should be able to simulate a power system in all operating conditioned
(steady-state and transient). High speed of a simulation tool helps realization of the real-time
simulation. In addition, user friendliness and ease of use are two assets for a simulation tool.
based on the mentioned criteria, several simulation tools are compared. Among them, three
are chosen for a more detailed comparison: MATLAB/Simulink, DigSILENT/PowerFactory, and
PSCAD/EMTDC. Table 2.1 shows the results of this comparison.
MATLAB/Simulink is an easy-to-use general-purpose simulation program. However, it fails to
accurately model some power system components (examples are dynamic loads and transformer
configurations). In addition, it is relatively slow. Therefore, MATLAB/Simulink is not a good
option for HIL real-time simulation.
DigSILENT/PowerFactory is a specialized power system simulator suitable for a variety of
power system applications. It has the ability to perform 1) electromagnetic transient (EMT)based simulation to study fast system dynamics and 2) quasi-stationary simulation to study slower
dynamics. It has a built-in real-time simulation feature but this feature can not be used in EMTbased simulation. In EMT-based simulation, PowerFactory is relatively slow. The slowness hampers
the usefulness of DigSILENT/PowerFactory for HIL real-time simulation.
PSCAD/EMTDC is a powerful EMT-based simulation program widely used in the industry, research centers, and educational institutes. It includes the models of most power system components
and is the fastest simulation program compared to the other two. Because of its high speed, ability
to simulate power system components and systems in both transient and steady state conditions,
and ease of use and user-friendliness, PSCAD is chosen as the simulation tool for this project.

2.2

Study System

In this project, a distribution feeder of Southern California Edison (SCE) is chosen as the test
system. Fig. 2.1 shows the feeder. It includes several balanced and unbalanced loads, distribution
lines, and three switched capacitors.
Changing the state of the capacitor switches results in a change in the voltage profile of the
system. Although this distribution feeder can be used for the evaluation of different controllers that
3

Table 2.1
Comparison of three simulation programs for HIL real-time simulation
Feature

Simulink

PowerFactory

PSCAD

Availability of power system components

Control blocks/functions
Parallel implementation
Developing new components
Steady state simulation
Dynamic simulation
Model transfer to RTDS
Compatibility with Opal-RT
User friendliness
Limitation in simulating large systems
(Educational version)
Learning curve
Capability to interface with other software
Support team response
Simulation speed

Limited
Extensive
Yes
Yes
Yes
Yes
Difficult
Yes
Yes

Good
Limited
No
Yes
Yes
Yes
Difficult
No
No

Good
Good
No
Yes
Yes
Yes
Easy
No
Yes

No

Yes

Yes

Easy
Good
Normal
Slow

Difficult
Limited
Normal
Slow

Medium
Limited
Fast
Fast

P+jQ P+jQ P+jQ

A

A
V

P = 1.668
Q = 0.7293
V = 0.9939

P+jQ P+jQ P+jQ

P+jQ P+jQ P+jQ

P+jQ P+jQ P+jQ
P+jQ P+jQ P+jQ

CYMDist results:
0.994 Vpu, 1688 kW, 736 kVar

A
C
B
A
C

CYMDist results:
B

P = 0.9305
Q = 0.9894
V = 0.9957

A
B

A
V

P+jQ P+jQ
P+jQ P+jQ P+jQ

P+jQ P+jQ P+jQ

0.996 Vpu, 936 kW, 993 kVar

C
B
A
C
B
P+jQ P+jQ P+jQ

A
B
C

P+jQ P+jQ P+jQ

P+jQ P+jQ

Cap0049107

B
A
C

0.0
Cap0049107

B
1.2 [MVAR]

P = 3.864
Q = 1.936
V = 0.9946

A
C

A
V

A
1.8 [MVAR]

Cap0127213

B
P+jQ

P = 4.811
Q = 0.6977
V = 0.999

A
V

P+jQ P+jQ P+jQ

P+jQ P+jQ P+jQ

P+jQ

CLP_3C_#2

JCN_3C_750
C
A

CYMDist results:

P+jQ

P+jQ

Vcap3

0.0
Cap0127213

CLP_3C_750

JCN_3C_1000

N_CU_3C_#4

0.999 Vpu, 4863 kW, 720 kVar

B
P+jQ

P+jQ

3 Phase
RMS

B
A

P+jQ
P+jQ P+jQ

-0.0009834 [MW]
1.649 [MVAR]

P+jQ P+jQ

C
A

JCN_3C_350

B
CLP_3C_1/0

P+jQ P+jQ

CYMDist results:
CLP_3C_1000

1.0067 Vpu, 5057 kW, 1744 kVar

3 PhaseVcap2
RMS

P+jQ P+jQ

P+jQ P+jQ P+jQ

P+jQ P+jQ

P+jQ P+jQ
CYMDist results:
1.012 Vpu, 10720 kW, 1869 kVar

A
V

A
V

P = 5.384
Q = -0.1029
V = 1.007

A
V

CYMDist results:
1.0067 Vpu, 5443 kW, -83 kVar

P = 4.952
Q = 0.7826
V = 1.002

P = 4.994
Q = 1.721
V = 1.007

ACSR_3C_653_336N

P = 10.59
Q = 1.821
V = 1.012

10.59 [MW]
1.821 [MVAR]

A
V

Cairns 12 kV

Ph

P+jQ P+jQ

P+jQ P+jQ

P+jQ

P+jQ
P+jQ

N_ACSR_3C_336

T1_CB

C
A

C
A

C
A

C
A

P+jQ P+jQ

P+jQ

N_ACSR_3C_#4

12.22

P+jQ

0.0

P+jQ

F
60.0

P+jQ P+jQ P+jQ

P+jQ P+jQ

RL

RRL
T1_CB

P+jQ P+jQ

CYMDist results:
1.0016 Vpu, 5005 kW, 801 kVar
A

Cap0021542

-0.0006563 [MW]
1.121 [MVAR]

Cap0021542
0.0

P+jQ
P+jQ P+jQ

1.2 [MVAR]
C
A

P+jQ P+jQ P+jQ

0.995 Vpu, 3904 kW, 1952 kVar

-0.0006749 [MW]
1.108 [MVAR]

CYMDist results:

P+jQ P+jQ

C
RMS
Vcap13 Phase

P+jQ P+jQ P+jQ

P+jQ P+jQ P+jQ

ACSR_3C_653

N_CU_3C_2/0

N_ACSR_3C_1/0

Figure 2.1: SCE distribution feeder chosen for the case studies.
PSUBPSUB

QSUBQSUB

VSUBVSUB

Main : Graphs
: Graphs
0.100

12.00

Untitled

PSUB

Main : Graphs

QSUB

VSUB

0.075
0.050
0.025

1.00

0.000

-0.025
-0.050
-0.075
-0.100
sec

0.00

-2.00
x

0.10

0.20

0.30

0.40

0.50

0.60

0.70

0.80

0.90

1.00

0.0

1.0

2.0

3.0

4.0

5.0

6.0

7.0

8.0

sec

1.0

2.0

3.0

4.0

5.0

6.0

7.0

P+jQ P+jQ P+jQ

A
P = 1.641
Q = 0.7145
V = 0.9861

A
V

C
B
A

P+jQ P+jQ P+jQ

CYMDist results:
0.994 Vpu, 1688 kW, 736 kVar

CYMDist results:
0.996 Vpu, 936 kW, 993 kVar

A
V

C
B
A

P+jQ P+jQ P+jQ

A
B
C

Cap0049107

1.0
Cap0049107

1.2 [MVAR]

P = 3.833
Q = 1.915
V = 0.9908
A
V
-0.0008504 [MW]
1.637 [MVAR]

Cap0127213

3 Phase
RMS

Vcap3

0.0
Cap0127213

P+jQ P+jQ P+jQ

C
1.8 [MVAR]

P+jQ P+jQ P+jQ

-5.993e-016 [MW]
1.835e-012 [MVAR]

RMS
Vcap13 Phase

P+jQ P+jQ P+jQ

CYMDist results:
0.995 Vpu, 3904 kW, 1952 kVar

P+jQ P+jQ P+jQ

P+jQ P+jQ P+jQ

P = 0.9144
Q = 0.9696
V = 0.9883

CLP_3C_#2

JCN_3C_750

CLP_3C_750
B
P = 4.771
Q = 0.6829
V = 0.9951

C
A
V

P+jQ P+jQ P+jQ

JCN_3C_1000
CYMDist results:
0.999 Vpu, 4863 kW, 720 kVar
N_CU_3C_#4

JCN_3C_350

1.2 [MVAR]

CLP_3C_1/0

CYMDist results:
CLP_3C_1000

1.0067 Vpu, 5057 kW, 1744 kVar

3 PhaseVcap2
RMS

P+jQ P+jQ P+jQ

P+jQ P+jQ P+jQ

A

A
V

A
V

P = 5.346
Q = -0.1082
V = 1.002

A
V

CYMDist results:
1.0067 Vpu, 5443 kW, -83 kVar

P = 4.912
Q = 0.7653
V = 0.9981

P = 4.912
Q = 2.788
V = 1.002

CYMDist results:
1.0016 Vpu, 5005 kW, 801 kVar

Cap0021542

-0.0005725 [MW]
1.111 [MVAR]

P+jQ P+jQ P+jQ

Cap0021542
0.0

CYMDist results:
1.012 Vpu, 10720 kW, 1869 kVar
P = 10.46
Q = 2.905
V = 1.008

ACSR_3C_653_336N
10.46 [MW]
2.905 [MVAR]

A
V

Cairns 12 kV

Ph

T1_CB
0.0

N_ACSR_3C_336

F
60.0

P+jQ P+jQ P+jQ

N_ACSR_3C_#4

12.22

P+jQ P+jQ P+jQ

RL

RRL
T1_CB

ACSR_3C_653

N_CU_3C_2/0

N_ACSR_3C_1/0

Figure 2.2: Reduced SCE feeder.

regulate the voltage, the large number of its nodes (324) poses a challenge for real-time simulation
on a typical computer. In order to reduce the size of the system, the loads that are located close
to each other are aggregated. The corresponding distribution lines are also merged. Fig. 2.2 shows
the resulting system with 174 nodes. In our case studies, it is observed that the time needed to
simulate the reduced system is almost half of the time needed for the original system.
While reducing the system size results in considerable reduction in simulation time, it is important to verify that the reduced and original systems behave similarly. For this purpose, two
cases are studied. In the first case study, all the capacitors are switched off, and the real and
reactive powers that the rest of the power system (modeled by an ideal voltage source behind an
impedance) supplies to the distribution feeder are measured. Fig. 2.3 compares the results of the
original and reduced feeders. In the second case study, all the capacitors are switched on, and again
the supplied real and reactive powers are measured. Fig. 2.4 compares the results with the original
and reduced feeders. Based on Figs. 2.3 and 2.4, the reduced system closely resembles the behavior
of the original system.
PSUB

VSUBVSUB

QSUB

Main : Graphs

1.00

VSUB

0.50
0.00

-0.50
-1.00
-1.50
-2.00

sec

2.3

5.20

5.40

5.60

5.80

6.00

6.20

6.40

6.60

6.80

7.00

HIL Simulation Using PSCAD, MATLAB, and LabVIEW

A software interface can facilitate the data exchange between PSCAD and the external controller.
In this proposed approach, because of its ease of use, MATLAB is chosen as the software interface.
Fig. 2.5 shows the overall structure of the proposed HIL simulation with MATLAB. MATLAB
receives output PSCAD data (any required simulation variable) and writes each data point to a

Ps (MW) and Qs (MVAr)

15

Ps

Qs

10

0
0

Ps (MW) and Qs (MVAr)

(a)
15

Ps

Qs

10

0
0

(b)
Time (s)

Ps (MW) and Qs (MVAr)

Figure 2.3: Comparison of the real and reactive powers (Ps and Qs ) supplied to the original and reduced
SCE feeders when all three capacitors are switched off: (a) the original feeder; (b) the reduced feeder.
15

Ps

Qs

10

0
0

Ps (MW) and Qs (MVAr)

(a)
15

Ps

Qs

10

0
0

(b)
Time (s)

Figure 2.4: Comparison of the real and reactive powers (Ps and Qs ) supplied to the original and reduced
SCE feeders when all three capacitors are switched on: (a) the original feeder; (b) the reduced feeder.

Figure 2.5: HIL simulation using MATLAB as the interface.

Figure 2.6: Connecting MATLAB to PSCAD using a custom component.

dedicated text file. These text files are used as the interface between MATLAB and LabVIEW
(interface to a data acquisition [DAQ] module). After reading these files, LabVIEW writes their
contents to the output channels of the DAQ module. The external controller then reads the data
from the DAQ module
National Instruments NI-cRIO series is a commercial controller with applications in power system [10]. In this project, an NI-cRIO 9024 is chosen as the external controller. It can communicate
with LabVIEW via NI input/output modules.
The output control commands of NI-cRIO are written to an NI output module, read by the DAQ
module, and transferred to LabVIEW. LabVIEW writes each command in a dedicated text file.
The text files are then read by MATLAB, and transferred to PSCAD. Oscilloscopes or voltmeters
can read the physical signals that are taken from the simulation file (simulation variables) or the
external controller (control commands).
Fig. 2.6 shows the connection of MATLAB to PSCAD. A custom PSCAD component is used
to specify the number and the type of inputs and outputs of the MATLAB function that is being
called. This MATLAB interface component is activated using a clock signal. In our studies, an
impulse train with an adjustable frequency determines the rate of data exchange between PSCAD
and MATLAB, as shown in Fig. 2.7. Increasing the frequency of this impulse train results in a
more frequent data exchange between PSCAD and MATLAB and enables capturing fast transients.
However, it also reduces the speed of simulation. The frequency of the impulse train signal is set
appropriately to avoid slower-than-real-time simulation.
In our studies, the custom MATLAB interface component is designed to handle two inputs
and two outputs of the MATLAB code. The associated Fortran code is shown in Fig. 2.8. All
the inputs and outputs are defined as real numbers. Fig. 2.9 shows a sample MATLAB code that
writes two signal values to text files and reads the contents of two other text files. Each signal can
be a measurement (e.g., voltage, current, and real or reactive power) of a node of the simulated

Figure 2.7: Generation of an impulse train signal to trigger the MATLAB-PSCAD interface component.

system. The number of input and output ports of the interface component can change based on
the requirements of the external controller (the number of required measurements and the number
of control commands). Increasing the number of ports results in a slower communication.
Fig. 2.10 shows the LabVIEW layout that is used for interfacing the text files and the DAQ
module. The selection of the DAQ module depends on the required number of inputs and outputs
and also the required communication rate. In this project, an NI-6009 DAQ module is used. It has
twelve digital inputs/outputs, eight analog inputs, and two analog outputs.

2.4

HIL Simulation Using PSCAD and LabVIEW

The structure shown in Fig. 2.5 (HIL simulation with MATLAB interface) is simple to implement
because MATLAB is an advanced and user-friendly programming tool. Another advantage of
MATLAB is its ability to read a text file without locking the file, hence allowing the other software
(LabVIEW) to write on the same file simultaneously. However, the need to run MATLAB in
addition to another software tool makes the simulation slow. The proposed solution is to establish
a PSCAD-LabVIEW link without MATLAB. In this case, a custom PSCAD component is developed
to read/write to text files. Fig. 2.11 shows a developed PSCAD component to read from two text
files and write to two text files. Fig. 2.12 shows the associated Fortran code.
In order to control the rate of data exchange with the text files, the Fortran code shown in
Fig. 2.12 allows triggering read/write actions by an external impulse train signal. Increasing the
frequency of the impulse train results in a more frequent data exchange between PSCAD and
text files and enables capturing fast transients but it results in a slower simulation. Similar to
Subsection 2.3, the frequency of the impulse train should be set to avoid slower-than-real-time
simulation.
When the Fortran code of the custom component reads the content of a text file, that file can
not be simultaneously modified by other software tool. When LabVIEW attempts to write to a file
that is being read by Fortran, a LabVIEW error halts the simulation. The proposed solution uses
an extra signal to prohibit LabVIEW from writing to a file that is being read by PSCAD.
Fig. 2.13 shows the structure of HIL simulation without MATLAB. The connections between
LabVIEW and DAQ, DAQ and NI input/output modules, and NI input/output modules and NI8

11

13

15

17

19

21

23

25

27

29

31

33

35

#STORAGE REAL: 6
!
!
! PSCAD/EMTDC MATLAB INTERFACE
! Module : $Name
#LOCAL INTEGER IVD1 1
IF ( $ Enabl .GT. 0 . 9 ) THEN
!
! T r a n s f e r EMTDC Input V a r i a b l e s t o Matlab I n t e r f a c e
!
!
! F i r s t I n put Array (REAL( 2 ) )
DO IVD1 1 = 1 , 2
STORF(NSTORF+IVD1 1 1) = $INPUT( IVD1 1 )
END DO
!
!
! C a l l PSCAD/EMTDC Matlab I n t e r f a c e :
! CALL MLAB INT( MFILEPATH , MFILENAME , I /O Formats )
!
CALL COMPONENT ID(ICALL NO , $#Component )
CALL MLAB INT( %: Dir \ $ Path , $Name , R( 2 ) , R )
!
ENDIF
!
! T r a n s f e r Matlab Output V a r i a b l e s from Matlab I n t e r f a c e
!
!
! F i r s t Output Array (REAL( 1 ) )
DO IVD1 1 = 1 , 2
$OUTPUT( IVD1 1 )=STORF(NSTORF+IVD1 1+2)
END DO
! Update STORx P o i n t e r s
NSTORF = NSTORF + 6
!
!

Figure 2.8: Fortran code to interface MATLAB to PSCAD.

10

f u n c t i o n [ out ] = T D plot ( i n 2 ) %D e f i n i n g t h e output s i z e

g l o b a l x y w1 w2 %Parameter d e f i n i t i o n
%Reading t h e f i r s t t e x t f i l e
%I f not blank , t h e f i r s t t e x t f i l e
x=c s v r e a d ( r e a d f i l e 1 ) ;
w1=s i z e ( x ) ;
w1=w1 ( 1 ) ;
i f w1>0
csvwrite ( auxfile1 , x) ;
end

i s stored .

12

14

16

18

20

22

24

26

28

%Reading t h e s e c o n d t e x t f i l e
%I f not blank , t h e s e c o n d t e x t f i l e
y=c s v r e a d ( r e a d f i l e 2 ) ;
w2=s i z e ( y ) ;
w2=w2 ( 1 ) ;
i f w2>0
csvwrite ( auxfile2 , y) ;
end

i s stored .

%Sending t h e s t o r e d data t o t h e output p o r t s

out ( 1 )=c s v r e a d ( a u x f i l e 1 ) ;
out ( 2 )=c s v r e a d ( a u x f i l e 2 ) ;
%W r i t i n g t h e i n p u t s (PSCAD v a r i a b l e s ) t o t e x t f i l e s
csvwrite ( w r i t e f i l e 1 , in 3 (1) ) ;
csvwrite ( w r i t e f i l e 2 , in 3 (2) ) ;

Figure 2.9: Sample MATLAB code interfaced to PSCAD.

10

(a)

(b)
Figure 2.10: Using a LabVIEW layout as the interface of the text files and DAQ module: (a) reading from
Fig. and
kk?.writing
Using to
a LabVIEW
file(b)
as reading
the interface
of text
files and
DAQ module
(a) reading
text files
DAQ module;
from DAQ
module
and writing
to the text
files.

from text files and writing to DAQ module (b) reading from DAQ module and writing to text
files.
Custom PSCAD block Converting real number to
Low-pass filter
used for noise
cancellation
project,
an NI-6009

Boolean

In this
DAQ module is used. It has xx digital inputs, xx
analog inputs, xx digital outputs, and XX analog outputs.
The selection of the DAQ module depends on the requirement for the number
of inputs and outputs and also the maximum communication rate. This is a tradeFigure 2.11: Custom PSCAD component to manipulate text files.

11

i f ( $ p u l s e 1 . g t . 0 . 5 ) then ! Checking t h e c l o c k s i g n a l
2

10

! P r o h i b i t i n g LabVIEW w r i t e a c t i o n
open ( u n i t =206 , f i l e = C: \ U s e r s \LIPE1\ Desktop \ i n t e r f a c i n g \ f i r s t PSCAD MATLAB c a s e \
matlab \ m f i l e s \ p u l s e f i l e )
write (206 , * ) 1.1
c l o s e ( u n i t =206)
! Write a c t i o n s
open ( u n i t =104 , f i l e = C: \ U s e r s \LIPE1\ Desktop \ i n t e r f a c i n g \ f i r s t PSCAD MATLAB c a s e \
matlab \ m f i l e s \ w r i t e f i l e 1 )
write (104 , * ) $in1
c l o s e ( u n i t =104)

12

14

open ( u n i t =105 , f i l e = C: \ U s e r s \LIPE1\ Desktop \ i n t e r f a c i n g \ f i r s t PSCAD MATLAB c a s e \

matlab \ m f i l e s \ w r i t e f i l e 2 )
write (105 , * ) $in2
c l o s e ( u n i t =105)

16

18

20

22

24

26

28

! Read a c t i o n s
open ( u n i t =101 , f i l e = C: \ U s e r s \LIPE1\ Desktop \ i n t e r f a c i n g \ f i r s t PSCAD MATLAB c a s e \
matlab \ m f i l e s \ r e a d f i l e 1 )
r e a d ( 1 0 1 , * ,IOSTAT=IERR) $ out1
c l o s e ( u n i t =101)
open ( u n i t =102 , f i l e = C: \ U s e r s \LIPE1\ Desktop \ i n t e r f a c i n g \ f i r s t PSCAD MATLAB c a s e \
matlab \ m f i l e s \ r e a d f i l e 2 )
r e a d ( 1 0 2 , * ,IOSTAT=IERR) $ out2
c l o s e ( u n i t =102)
! A l l o w i n g LabVIEW w r i t e a c t i o n
open ( u n i t =206 , f i l e = C: \ U s e r s \LIPE1\ Desktop \ i n t e r f a c i n g \ f i r s t PSCAD MATLAB c a s e \
matlab \ m f i l e s \ p u l s e f i l e )
write (206 , * ) 0.1
c l o s e ( u n i t =206)

30

endif

Figure 2.12: Fortran code to manipulate text files.

12

Figure 2.13: HIL simulation without MATLAB.

Figure 2.14: HIL real-time simulation with multiple external controllers interfaced to the real-time simulator.

cRIO controller are all similar to the case with MATLAB (Fig 2.5).
As discussed in Chapter 1, a distribution system operator simultaneously exploits multiple
controllers. Therefore, the ability of the real-time simulator to simultaneously evaluate multiple
external controllers with HIL real-time simulation results in a credible evaluation of the performance
of a distribution system. The proposed software-based real-time simulator (with both structures
shown in Figs. 2.5 and 2.13) is able to run HIL real-time simulation with multiple external controllers
interfaced to the simulator. It should be noted that increasing the number of external controllers
results in an increased number of input/output ports of the PSCAD custom component and hence
a reduced simulation speed and possibility of losing real-time performance. The maximum number
of external controllers that are interfaced to the proposed HIL real-time simulator depends on the
computing power available (for example, by employing a faster CPU, more high-speed RAM, and a
solid-state drive, more external controllers can be interfaced). Fig. 2.14 shows interfacing multiple
external controllers during simulation of a distribution system.

13

SUBROUTINE AUX CSUBB( out , o u t t )

INTEGER v a l u e s ( 8 )
REAL rTime , r T i m e m i l i

c a l l d a t e a n d t i m e ( v a l u e s=v a l u e s )

rTime=( v a l u e s ( 5 ) ) * 6 0 .
! Hours t o minutes
rTime=(rTime+v a l u e s ( 6 ) ) * 6 0 . ! Minutes t o s e c o n d s
rTime=(rTime+v a l u e s ( 7 ) ) ! Seconds t o m i l l i s e c o n d s

11

r T i m e m i l i=v a l u e s ( 8 )

13

out=rTime
o u t t=r T i m e m i l i

15

END

Figure 2.15: Fortran code to find the system time.

2.5

Synchronizing Real-Time Simulation

The external controllers interfaced to PSCAD simulator use real-time operating systems (RTOS)
that always run in real time. However, PSCAD itself can run slower or faster than real time. A
crucial step toward realization of HIL real-time simulation is to synchronize and enforce PSCAD
to run in real-time.
The first step to enforce a real-time simulation is to avoid slower-than-real-time simulation by
appropriately choosing the simulation time step, plotting time step, and the rate of data exchange
with the external controllers.
The second step is to slow the simulation down if it runs faster than real time. This requires
knowing the simulation time and the real time, and hence the difference between these two. PSCAD
has a built-in component that returns the simulation time. To find the real time (system time), a
Fortran code (Fig. 2.15) is developed that reads the system time with accuracy of one millisecond.
PSCAD uses an older version of Fortran (Fortran 88) and can not compile the developed code that
includes accessing the real time. Therefore, the code is written using a newer version of Fortran
(Fortran 95) and is linked to PSCAD.
In the developed real-time enforcement scheme, at the instances that data exchange with text
files occurs, a developed custom PSCAD component checks whether the simulation time is ahead
of the real time. If needed, it executes a mathematically complex command to slow down the
simulation. Fig. 2.16 shows the timeline of the simulation process. After each step of regulating
the time, the simulation time is the same as the real time, and the real-time simulation is enforced.
Fig. 2.17 shows the difference between the real time and the simulation time of a sample simulation case study (the study distribution feeder without external controllers) without and with the
real-time enforcing scheme. Without real-time enforcement, the simulation runs faster than the real
time and the difference between the two linearly increases with time. With the proposed real-time
enforcement scheme, the difference between the real time and the simulation time is always around
zero and real-time simulation is realized.

14

treal time tsimulation time (s)

Figure 2.16: Timeline of the proposed real-time simulation.

0.2

Without real-time enforcement

With real-time enforcement

0
-0.2
-0.4
-0.6
0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9

Real time (s)

Figure 2.17: Difference between the real time and the simulation time of a sample similation case study
without and with the proposed real-time enforcing scheme.

15

Chapter 3

HIL Real-Time Simulation Results

3.1

Results of the HIL Real-Time Simulation Case Studies

In order to evaluate the performance of the proposed software-based HIL real-time simulator, an
experimental setup as shown in Fig. 3.1 is developed. Fig. 3.2 shows using a physical oscilloscope
to measure the instantaneous value of a single phase voltage of a bus of the test feeder. Fig. 3.3
shows the test feeder that is the reduced SCE feeder augmented with three extra loads. The extra
loads can be manually switched on and off. The control objective is to maintain the voltages of
the buses of C1 and C2 within the specified limits. This objective can be realized by appropriate
switching of C1 and C2 .
Fig. 3.4 shows the diagram of a sample control algorithm that is implemented in NI-cRIO 9024
(the external controller). It compares the voltages of the capacitor buses with their corresponding
reference values. Hysteresis controllers decide whether each capacitor should be switched on or off.
If the voltage of a capacitor bus is above the maximum allowed value, the controller switches the
associated capacitor off. If the voltage of a capacitor bus is below the minimum allowed value,
the controller switches the associated capacitor on. If the voltage of a capacitor bus is within the
allowed limits, the controller keeps the status of the associated capacitor switch unchanged.
In the implemented control algorithm, reference voltages of the capacitor buses are chosen to
be VC1 = 0.9875pu and VC2 = 0.9940pu, and the bands of the hysteresis controllers are chosen to
be VC1 = 0.0075 pu and VC2 = 0.0040 pu. With this selection of the reference voltages and
the hysteresis bands, when the extra loads are switched on and off, the voltage of the capacitor
buses violate the specified limits but can return to allowed limits if the external controller reacts
appropriately.
Based on the diagram shown in Fig. 3.4, the external controller needs to read two analog
signals from the simulation file (VC1 and VC2 ) and send two digital commands to the simulation
environment. Therefore, one analog input module and one digital output module are required.
The analog input module that is used is an NI 9229, which has four input channels. The digital
output module that is used is an NI 9474, which has eight output channels. Fig. 3.5 Shows NIcRIO 9024 with two I/O modules mounted on its chassis and Fig. 3.6 shows the hysteresis controllers
implemented in NI-cRIO through a LabVIEW interface.
In the simulation case studies, the HIL real-time simulation runs for 110 seconds. At t = 70 s,
all the extra loads are switched on. Fig 3.7 shows the simulation results shown in PSCAD without
and with the external controller interfaced to the simulator. Prior to t = 70 s, both C1 and C2
are switched off and their bus voltages are within the allowed limits (VC1 [0.98, 0.995], VC2
[0.990, 0.998].) After t = 70 s, switching the extra loads on results in a decrease in the voltages of

16

Figure 3.1: Implemented setup of the proposed software-based HIL real-time simulation.

Figure 3.2: Using oscilloscope for observing the single phase voltage of a bus.

17

P+jQ P+jQ P+jQ

A
P = 1.641
Q = 0.7145
V = 0.9861

A
V

C
B
A

P+jQ P+jQ P+jQ

CYMDist results:
0.994 Vpu, 1688 kW, 736 kVar

CYMDist results:
0.996 Vpu, 936 kW, 993 kVar

A
V

C
B

Extra loads

P+jQ P+jQ P+jQ

loadswitch
C

Cap0049107

RMS
Vcap13 Phase

B
C

-5.993e-016 [MW]
1.835e-012 [MVAR]

A
V

0.0

Cap0127213

1.8 [MVAR]

-0.0008504 [MW]
1.637 [MVAR]

1.2 [MVAR]

C1

Cap0127213

3 Phase
RMS

Vcap3

B
A

C3

P+jQ P+jQ P+jQ

P+jQ P+jQ P+jQ

CLP_3C_#2

JCN_3C_750
P+jQ P+jQ P+jQ

A
CLP_3C_750
B

A
V

P = 4.771
Q = 0.6829
V = 0.9951

JCN_3C_1000
CYMDist results:
0.999 Vpu, 4863 kW, 720 kVar
N_CU_3C_#4

JCN_3C_350

1.2 [MVAR]

CLP_3C_1/0

CYMDist results:
1.0067 Vpu, 5057 kW, 1744 kVar

3 PhaseVcap2
RMS

P+jQ P+jQ P+jQ

CLP_3C_1000

P+jQ P+jQ P+jQ

CYMDist results:
1.012 Vpu, 10720 kW, 1869 kVar

A
V

A
V

P = 5.346
Q = -0.1082
V = 1.002

A
V

P = 4.912
Q = 0.7653
V = 0.9981

P = 4.912
Q = 2.788
V = 1.002

CYMDist results:
1.0067 Vpu, 5443 kW, -83 kVar

CYMDist results:
1.0016 Vpu, 5005 kW, 801 kVar

writevoltage

Cap0021542

-0.0005725 [MW]
1.111 [MVAR]

P+jQ P+jQ P+jQ

C2

P = 10.46
Q = 2.905
V = 1.008

ACSR_3C_653_336N
10.46 [MW]
2.905 [MVAR]

A
V

Cairns 12 kV

Ph

0.0

N_ACSR_3C_336

T1_CB
60.0

P+jQ P+jQ P+jQ

N_ACSR_3C_#4

12.22

P+jQ P+jQ P+jQ

RL

RRL
T1_CB
0

P+jQ P+jQ P+jQ

P = 3.833
Q = 1.915
V = 0.9908

CYMDist results:
0.995 Vpu, 3904 kW, 1952 kVar

P+jQ P+jQ P+jQ

P+jQ P+jQ P+jQ

P+jQ P+jQ P+jQ

P+jQ P+jQ P+jQ

P = 0.9144
Q = 0.9696
V = 0.9883

ACSR_3C_653

N_CU_3C_2/0

Figure 3.3: Simulated distribution feeder.

N_ACSR_3C_1/0

PSUB

VSUBVSUB

QSUB

Main : Graphs
VSUB

2.00
1.50
1.00
0.50
0.00
-0.50
-1.00
-1.50

Switching
command for C1

Component representing
interface to LabVIEW
A

-2.00
sec

10

20

30

40

50

Cap0049107
G
Vcap1 1 + sT

G
Vcap2 1 + sT

in1
in2
in3

0.0

interfacing

out1
out2
out3

B Comparator

0.5

Cap0021542

pulse1
clook

B Comparator

0.5

clook
*
1000

D + timerr.f

D ++

S/H
in out
hold

out

Switching
command for C2

D + F

outt

timediff
A

TIME
0.001

swtch
D + -

B Comparator

Real-time
F

S/H
in out
hold

Real-time
NO

YES

Figure 3.4: Hysteresis controllers implemented in the external controller.

G
Vcap1 1 + sT

*
1000

G
Vcap2 1 + sT

Matlab : Graphs

Matlab : Graphs

cp1V

2.00

ttt

2.00

Graphs
cp2V

G
Vcap3 1 + sT

1.50

cp3V

1.00

1.50

0.50
1.00
0.00

0.50

-0.50
0.00
-1.00

-0.50

-1.50
-1.00
-2.00

-1.50

sec

10

-2.00
sec

10

20

30

40

50

60

70

80

90

100

loadswitch
Untitled
Mai...
Untitled
on

off

20

30

40

50

60

70

80

90

100

18

60

70

80

90

100

Figure 3.5: NI-cRIO 9024 and input/output modules.

Figure 3.6: Hysteresis controllers implemented in NI-cRIO through a LabVIEW interface.

19

VC1 and VC2 (pu)

VC1

1.02

VC2

1
0.98
0.96
0.94
20

40

60

80

100

120

VC1 and VC2 (pu)

(a)
VC1

1.02

VC2

1
0.98
0.96
0.94
20

40

60

80

100

120

Switch commands

(b)
C1

C2

5
0

-5
20

40

60

80

100

120

(c)
Time (s)

Figure 3.7: HIL real-time simulation results (readings of PSCAD plots): (a) voltages of the capacitor buses
when the external controller is not interfaced to the simulation and both capacitors are switched off; (b)
voltages of the capacitor buses when the external controller is interfaced to the simulation; (c) commands of
the capacitor switches in the presence of the external controller (0 V means on, 5 V means off).

both capacitor buses. In the simulation case without the external controller, the voltages of both
capacitor buses become less than the minimum allowed limits, Fig 3.7(a). In the simulation case
with the external controller interfaced to the simulation, the controller (NI-cRIO) switches C1 on.
This action of the controller regulates the voltages of the capacitor buses within the allowed limits
(VC1 = 0.9827 pu and VC2 = 0.9923 pu), Fig 3.7(b).
Fig. 3.8 shows the results of the same simulation case study measured by a physical oscilloscope.
Similarity of the results shown in Figs. 3.7 and 3.8 show that an external measuring devices (e.g.,
voltmeter and oscilloscope) can be used to measure the variables of the simulated distribution
system when the HIL real-time simulation is running. The time scales of Fig. 3.8 are the same
as those of Fig. 3.7. This shows the realization of the real-time simulation using the proposed
structure for real-time enforcement.

3.2

Video Demonstration of the Simulation Case Studies

Different parts of the simulation case studies are recorded as video clips. This section briefly
describes the contents of the recorded video clips.
In the first video clip, http://goo.gl/q9QSb5, the goal of the proposed software-based HIL realtime simulator is described and the hardware and software are introduced. In addition, the test
distribution feeder is introduced, and the structure of the controllers that are used to regulate the
20

voltages of this feeder is described.

In the second video clip, http://goo.gl/f1ZWZS, an HIL real-time simulation case study is
performed. In this simulation case study, MATLAB is used to interface the simulation environment
(PSCAD) with LabVIEW (interface to the external controller). The simulation environment and
the external controller exchange digital data. The methodology to interface the external controller
to the simulation environment is described, and the process to evaluate the performance of the
external controller is explained.
In the third video clip, http://goo.gl/VddIi4, the role of different data intarfaces (MATLAB,
text files, DAQ module, and NI input/output modules) is discussed, and the process of the using
these interfaces for data exchange between PSCAD and the external controller is explained in
details.
In the fourth video clip, http://goo.gl/2cFWJO, another simulation case study is performed.
In this case study, PSCAD is directly interfaced to LabVIEW, and the two software tools exchange
both analog and digital data. In this simulation case study, the effectiveness of the external controller in regulating the voltages of the test system is evaluated. In addition, it is shown that a
physical oscilloscope can correctly measure the simulation variables.

21

(a)

(b)

(c)

Figure 3.8: HIL real-time simulation results (measurements of the physical oscilloscope): (a) voltages of
the capacitor buses when the external controller is not interfaced to the simulation and both capacitors are
switched off (0.0125 pu/div); (b) voltages of the capacitor buses when the external controller is interfaced
to the simulation (0.0125 pu/div); (c) commands of the capacitor switches in the presence of the external
controller (0 V means on, 5 V means off) (2 V/div).

22

Chapter 4

Conclusion
4.1

Contributions and Conclusions

This project develops a software-based HIL real-time simulation tool that can be used for evaluating the controllers of a distribution system. Two different structures for interfacing the external
controllers to the simulation environment are proposed. The first structure uses MATLAB for
interfacing. This structure is simple to implement, but it is relatively slow. The second structure establishes a direct link between the simulation environment and LabVIEW (interface to the
external controllers). Because of the requirement for running the simulation study in real-time,
an algorithm for synchronizing and enforcing the real-time simulation is proposed. The proposed
algorithm compares the simulation time with real time and slows the simulation down if needed.
An SCE distribution feeder is chosen for the studies. First, by aggregating the loads and the
distribution lines, the the number of nodes of the feeder system is reduced. This reduction increases
the simulation speed and facilitates the real-time simulation. The presented simulation case studies
show the similarity of the performance of the original system and the reduced one and hence the
validity of the use of the reduced feeder as the test system.
The goal of the control algorithm is to regulate the bus voltages by appropriately switching the
capacitors of the distribution system on and off. In the simulation case studies, the proposed HIL
real-time simulator is used to evaluate the performance of a sample hysteresis-based voltage control
algorithm implemented in an external controller hardware (NI-cRIO 9024). The simulation case
studies show the ability of the proposed HIL real-time simulator to verify the effectiveness of the
studied hysteresis-based voltage controller.

4.2

Future Work

The possible future works can be listed as

Parallel processing: In order to obviate the limitation on processing the simulation file, parallel
personal computers (PC) can be used to run a single simulation file. Each computer can run
a part of the distribution feeder, and all the computers exchange the data. One computer
should be responsible for communicating with the external controller through a LabVIEW
interface and DAQ module. Fig. 4.1 shows the plan. The key challenge in implementing
the structure shown in Fig. 4.1 is the separation of a PSCAD simulation file into several
subsystems. All these subsystems should run with the same pace, and should be managed
by a central real-time enforcing scheme. The communication pattern and the management of
the interfacing algorithm needs investigation.
23

Figure 4.1: Improving the capabilities of the introduced HIL real-time simulation by using parallel computers
to run a PSCAD file (recommended future work).

Power hardware in the loop: The capability of performing power hardware in the loop (PHIL)
adds to the validity of the real-time simulation results. The challenges and possibilities of a
software-based power-hardware-in-the-loop (PHIL) real-time simulator can be investigated.
On-line enforcement of real-time: A structure that synchronizes and enforces real-time simulation by on-line adaptation of the simulation settings can be proposed. This sructure can
obviate the need for the first step of the two-step real-time enforcement scheme that is proposed in this report.
Evaluation of remote controllers: Interfacing an external hardware to a remote computer can
be investigated. This realizes a remote assessment of the distribution system controllers.
Waveform relaxation: Waveform relaxation (WR) is a time-domain method used for the analysis
of large, nonlinear dynamical systems. WR method decomposes the large system into several
decoupled subsystems and uses an iterative method, such as Newton-Raphson method, to
analyze the subsystems for the entire simulation interval [11]. The simulated distribution
system and the external controller that is interfaced to it form a large system of nonlinear
equations. A waveform relaxationbased method can be developed to solve this system.
Communicating through ports: In this report, the software-based real-time simulator and the
external controllers communicate via input/output modules. A software-based HIL real-time
simulation can be investigated in which the real-time simulator and the external controllers
communicate through ports. This obviates the need for input/output modules and hence
simplifies the structure of the HIL real-time simulation.

24

Appendix A

Datasheets
This appendix provides the datasheets of the hardware tools that are used in this project.

25

Low-Cost, Bus-Powered Multifunction DAQ for USB

12- or 14-Bit, up to 48 kS/s, 8 Analog Inputs
NI USB-6008, NI USB-6009
8 analog inputs at 12 or 14 bits,
up to 48 kS/s
2 analog outputs at 12 bits,
software-timed
12 TTL/CMOS digital I/O lines
32-bit, 5 MHz counter
Digital triggering
Bus-powered
1-year warranty

Recommended Software

Other Compatible Software

C#, Visual Basic .NET
ANSI C/C++

Operating Systems

LabVIEW
LabVIEW SignalExpress
LabWindows/CVI
Measurement Studio

Windows Vista (32- and 64-bit)/XP/2000

Mac OS X1
Linux1
Windows Mobile1
Windows CE1

Measurement Services
Software (included)
NI-DAQmx driver software
Measurement & Automation
Explorer configuration utility
LabVIEW SignalExpress LE
1You need to download NI-DAQmx
Base for these operating systems.

Product
USB-6009
USB-6008
1 SE

Bus
USB
USB

Analog
Inputs1
8 SE/4 DI
8 SE/4 DI

= single ended, DI = differential

Input
Resolution
(bits)
14
12

Max
Sampling Rate
(kS/s)
48
10

Input
Range
(V)
1 to 20
1 to 20

Analog
Outputs
2
2

Output
Resolution
(bits)
12
12

Output
Rate
(Hz)
150
150

Output
Range
(V)
0 to 5
0 to 5

Digital
I/O
Lines
12
12

32-Bit
Counter
1
1

Trigger
Digital
Digital

2Software-timed

Overview and Applications

With recent bandwidth improvements and new innovations from
National Instruments, USB has evolved into a core bus of choice for
measurement applications. The NI USB-6008 and USB-6009 are lowcost entry points to NI flagship data acquisition (DAQ) devices. With
plug-and-play USB connectivity, these modules are simple enough for
quick measurements but versatile enough for more complex
measurement applications.
The USB-6008 and USB-6009 are ideal for a number of applications
where low cost, small form factor, and simplicity are essential.
Examples include:
Data logging quick and easy environmental or voltage data logging
Academic lab use student ownership of DAQ hardware for
completely interactive lab-based courses (Academic pricing available.
Visit ni.com/academic for details.)
OEM applications as I/O for embedded systems

Recommended Software
National Instruments measurement services software, built around
NI-DAQmx driver software, includes intuitive application programming
interfaces, configuration tools, I/O assistants, and other tools
designed to reduce system setup, configuration, and development time.
National Instruments recommends using the latest version of NI-DAQmx

driver software for application development in NI LabVIEW, LabVIEW

SignalExpress, LabWindows/CVI, and Measurement Studio software.
To obtain the latest version of NI-DAQmx, visit
ni.com/support/daq/versions.
NI measurement services software speeds up your development with
features including:
A guide to create fast and accurate measurements with no
programming using the DAQ Assistant.
Automatic code generation to create your application in LabVIEW.
LabWindows/CVI; LabVIEW SignalExpress; and C#, Visual Studio .NET,
ANSI C/C++, or Visual Basic using Measurement Studio.
Multithreaded streaming technology for 1,000 times
performance improvements.
Automatic timing, triggering, and synchronization routing
to make advanced applications easy.
More than 3,000 free software downloads available at
ni.com/zone to jump-start your project.
Software configuration of all digital I/O features without
hardware switches/jumpers.
Single programming interface for analog input, analog output,
digital I/O, and counters on hundreds of multifunction DAQ hardware
devices. M Series devices are compatible with the following versions
(or later) of NI application software LabVIEW, LabWindows/CVI, or
Measurement Studio versions 7.x; and LabVIEW SignalExpress 2.x.

26

Low-Cost, Bus-Powered Multifunction DAQ for USB 12- or 14-Bit, up to 48 kS/s, 8 Analog Inputs
Every M Series data acquisition device also includes a copy of
LabVIEW SignalExpress LE data-logging software, so you can quickly
acquire, analyze, and present data without programming. The NI-DAQmx
Base driver software is provided for use with Linux, Mac OS X,
Windows Mobile, and Windows CE operating systems.

Recommended Accessories
The USB-6008 and USB-6009 have removable screw terminals for easy
signal connectivity. For extra flexibility when handling multiple wiring
configurations, NI offers the USB-600x Connectivity Kit, which includes
two extra sets of screw terminals, extra labels, and a screwdriver.
In addition, the USB-600x Prototyping Kit provides space for adding
more circuitry to the inputs of the USB-6008 or USB-6009.

Information for Student Ownership

To supplement simulation, measurement, and automation theory courses
with practical experiments, NI has developed the USB-6008 and USB-6009
student kits, which include the LabVIEW Student Edition and a ready-to-run
data logger application. These kits are exclusively for students, giving them
a powerful, low-cost, hands-on learning tool. Visit ni.com/academic for
more details.

Information for OEM Customers

For information on special configurations and pricing, call (800) 813 3693
(U.S. only) or visit ni.com/oem. Go to the Ordering Information section
for part numbers.

NI USB DAQ for OEMs

Shorten your time to market by integrating world-class National
Instruments OEM measurement products into your embedded system
design. Board-only versions of NI USB DAQ devices are available for
OEM applications, with competitive quantity pricing and available
software customization. The NI OEM Elite Program offers free 30-day
trial kits for qualified customers. Visit ni.com/oem for more information.

Ordering Information
NI USB-60081 ........................................................................779051-01
NI USB-60091 ........................................................................779026-01
NI USB-6008 OEM ................................................................193132-02
NI USB-6009 OEM ................................................................193132-01
NI USB-6008 Student Kit1,2 ..................................................779320-22
NI USB-6009 Student Kit1,2 ..................................................779321-22
NI USB-600x Connectivity Kit ..............................................779371-01
NI USB-600x Prototyping Kit ................................................779511-01
1 Includes

NI-DAQmx software, LabVIEW SignalExpress LE, and a USB cable.

2 Includes

LabVIEW Student Edition.

BUY NOW!
For complete product specifications, pricing, and accessory
information, call 800 813 3693 (U.S. only) or go to ni.com/usb.

27
BUY ONLINE at ni.com or CALL 800 813 3693 (U.S.)

Technical Sales
(866) 531-6285
orders@ni.com

Ordering Information | Detailed Specifications | Pinouts/Front Panel Connections

For user manuals and dimensional drawings, visit the product page resources tab on ni.com.

Last Revised: 2014-11-06 07:14:18.0

NI 9229, NI 9239
10 V or 60 V, Simultaneous Analog Input, 50 kS/s, 4 Ch Modules

4 differential channels, 50 kS/s per channel sample rate

250 Vrms ch-ch, CAT II (screw terminal), or 60 VDC ch-ch, CAT I (BNC) isolation

10 V (NI 9239) or 60 V (NI 9229) measurement range, 24-bit resolution

Screw-terminal or BNC connectivity

Antialias filter

-40 C to 70 C operating, 5 g vibration, 50 g shock

Overview
The NI 9229 is a 4-channel, 24-bit C Series analog input module for use in any NI CompactDAQ or CompactRIO chassis. The NI 9239 is similar to the NI 9229 in functionality
except for the input range. You can find detailed specifications for the NI 9229 and NI 9239 in the same manual for comparison.
With channel-to-channel isolation, your entire system, including the device under test, is protected from harmful voltage spikes up to the isolation rating. In addition to safety,
isolation eliminates measurement errors caused by ground loops because the front end of the module is floating.
EMC Performance To ensure EMC compliance for BNC, you must use a ferrite bead, such as NI part number 782801-01.
Recommended Accessories
-NI 9971 strain relief and operator protection (for screw-terminal variant)
-EMI suppression ferrite for NI 9229/9239 BNC (for BNC variant)
Box Contents
-1 NI 9229 or NI 9239 C Series module
-1 NI 9229/9239 Operating Instructions and Specifications manual
-4 NI 9976 two-position screw-terminal connectors (for screw-terminal variant)
Back to Top

Comparison Tables
Product
Name

Signal Ranges

Channels

Sample
Rate

Simultaneous Resolution

Isolation

Connectivity

NI 9201

10 V

8 Single-Ended

500
kS/s/ch

No

12-Bit

250 Vrms Ch-Earth (Screw Terminal), 60

VDC Ch-Earth (D-SUB)

Screw Terminal,
25-Pin D-SUB

NI 9205

200 mV, 1 V, 5
V, 10 V

32 Single-Ended, 16
Differential

250 kS/s

No

16-Bit

250 Vrms Ch-Earth (Spring Terminal), 60

VDC Ch-Earth (D-SUB))

Spring Terminal,
37-Pin D-SUB

NI 9206

200 mV, 1 V, 5
V, 10 V

32 Single-Ended, 16
Differential

250 kS/s

No

16-Bit

600 VDC Ch-Earth

Spring Terminal

NI 9215

10 V

4 Differential

100
kS/s/ch

Yes

16-Bit

250 Vrms Ch-Earth (Screw Terminal), 60

VDC Ch-Earth (BNC)

Screw Terminal,
BNC

NI 9220

10 V

16 Differential

100
kS/s/ch

Yes

16-Bit

250 Vrms Ch-Earth (Spring Terminal), 60

VDC Ch-Earth (D-SUB)

Spring Terminal,
37-Pin D-SUB

NI 9221

60 V

8 Single-Ended

800 kS/s

No

12-Bit

250 Vrms Ch-Earth (Screw Terminal), 60

VDC Ch-Earth (D-SUB)

Screw Terminal,
25-Pin D-SUB

28

www.ni.com

Product
Name

Signal Ranges

Channels

Sample
Rate

Simultaneous Resolution

Isolation

Connectivity

NI 9222

10 V

4 Differential

500
kS/s/ch

Yes

16-Bit

60 VDC Ch-Ch

Screw Terminal

NI 9223

10 V

4 Differential

1 MS/s/ch

Yes

16-Bit

60 VDC Ch-Ch

Screw Terminal

NI 9229

60 V

4 Differential

50 kS/s/ch

Yes

24-Bit

250 Vrms Ch-Ch (Screw Terminal), 60 VDC

Ch-Ch (BNC)

Screw Terminal,
BNC

NI 9239

10 V

4 Differential

50 kS/s/ch

Yes

24-Bit

250 Vrms Ch-Ch (Screw Terminal), 60 VDC

Ch-Ch (BNC)

Screw Terminal,
BNC
Back to Top

Application and Technology

NI C Series Overview

NI C Series modules are engineered to provide high-accuracy measurements to meet the demands of advanced DAQ and control applications. Each module contains
measurement-specific signal conditioning to connect to an array of sensors and signals, bank and channel-to-channel isolation options, and support for wide temperature ranges
to meet a variety of application and environmental needs all in a single rugged package. You can choose from more than 100 C Series modules for measurement, control, and
communication to connect your applications to any sensor on any bus.
Most C Series I/O modules work with both the NI CompactDAQ and NI CompactRIO platforms. The modules are identical, and you can move them from one platform to the other
with no modification.

NI CompactRIO Platform

Powered by the NI LabVIEW reconfigurable I/O (RIO) architecture, NI CompactRIO combines an open embedded architecture with small size, extreme ruggedness, and
hot-swappable industrial I/O modules. Each system contains an FPGA for custom timing, triggering, and processing with a wide array of modular I/O to meet any embedded
application requirement.
Configure Your Complete NI CompactRIO System

NI CompactDAQ Platform

29
www.ni.com

Technical Sales
(866) 531-6285
orders@ni.com

Ordering Information | Detailed Specifications | Pinouts/Front Panel Connections

For user manuals and dimensional drawings, visit the product page resources tab on ni.com.

Last Revised: 2014-11-06 07:14:25.0

NI 9474
24 V, Sourcing Digital Output, 8 Ch Module

8 channels, 1 s high-speed digital output

250 Vrms, CAT II isolation

5 V to 30 V, sourcing digital output

10-position screw-terminal connector

Compatibility with NI CompactDAQ counters

-40 C to 70 C operating, 5 g vibration, 50 g shock

Overview
The NI 9474 is a C Series 8-channel, 1 s high-speed sourcing digital output module. It works in any NI CompactDAQ or CompactRIO chassis. Each channel is compatible with 5
V to 30 V signals and features transient overvoltage protection of 2,300 Vrms between the output channels and earth ground. Each channel also has an LED that indicates the
state of that channel. With the NI 9474, you can connect directly to a variety of industrial devices such as motors, actuators, and relays.
The NI 9474 module is a correlated digital module, which means it can perform correlated operations, triggering, and synchronization when installed in an NI CompactDAQ
chassis.
Recommended Accessories
-NI 9927 strain relief and operator protection
Optional Accessories
-NI 9936 extra screw-terminal block (quantity 10)
-NI 9980 extra spring-terminal block (quantity 10)
Note: The NI 9980 is not compatible with the NI 9927 and must be used with low or nonhazardous voltages or installed in a properly rated enclosure.
Box Contents
-1 NI 9474 C Series module
-1 NI 9474 Operating Instructions and Specifications manual
-1 NI 9936 10-position screw-terminal connector
Back to Top

Comparison Tables
Product Name

Signal Levels

Direction

Channels

Update Rate

Continuous Current

Connectivity

NI 9375

12, 24 V

Sinking Input, Sourcing Output

16 In, 16 Out

7 s In, 500 s Out

100 mA/ch

Spring Terminal, 37-Pin D-SUB

NI 9472

12, 24 V

Sourcing Output

100 s

750 mA/ch

Screw Terminal, 25-Pin D-SUB

NI 9474

5, 12, 24 V

Sourcing Output

1 s

1 A/ch

Screw Terminal

NI 9475

5, 12, 24, 48, 60 V

Sourcing Output

1 s

1 A/ch

25-Pin D-SUB

NI 9476

12, 24 V

Sourcing Output

32

500 s

250 mA/ch

37-Pin D-SUB

NI 9477

5, 12, 24, 48, 60 V

Sinking Output

32

8 s

1 A/ch (20 A per Module)

37-Pin D-SUB

NI 9478

5, 12, 24, 48 V

Sinking Output

16

7 s

1.2 A/ch

37-Pin D-SUB

30

Back to Top

www.ni.com

Technical Sales
(866) 531-6285
orders@ni.com

Requirements and Compatibility | Ordering Information | Detailed Specifications | Pinouts/Front Panel Connections
For user manuals and dimensional drawings, visit the product page resources tab on ni.com.

Last Revised: 2014-11-06 07:14:19.0

Real-Time Controller with 800 MHz, 512 MB DRAM, 4 GB Storage

NI cRIO-9024

Embedded controller runs LabVIEW Real-Time for deterministic control, data logging,
and analysis
800 MHz processor, 4 GB nonvolatile storage, 512 MB DDR2 memory

Hi-Speed USB host port for connection to USB flash and memory devices
RS232 serial port for connection to peripherals; dual 9 to 35 VDC supply inputs
-20 to 55 C operating temperature range

Dual Ethernet ports with embedded Web and file servers for remote user interfacing

Overview
The NI cRIO-9024 embedded real-time controller is part of the high-performance NI CompactRIO programmable automation controller (PAC) platform. It features an industrial 800
MHz real-time Freescale processor for deterministic, reliable real-time applications and contains 512 MB of DDR2 RAM and 4 GB of nonvolatile storage for holding programs and
logging data.
Back to Top

Requirements and Compatibility

OS Information
VxWorks

Driver Information

Software Compatibility

NI-RIO

LabVIEW
LabVIEW FPGA Module
LabVIEW Professional Development System
LabVIEW Real-Time Module

Back to Top

Application and Technology

System Configuration
The NI cRIO-9024 rugged, reliable controller is designed for low-power consumption with dual 9 to 35 VDC supply inputs that deliver isolated power to the CompactRIO
chassis/modules and a -20 to 55 C operating temperature range. The cRIO-9024 accepts 9 to 35 VDC power supply inputs on power up and 6 to 35 VDC power supply inputs
during operation, so it can function for long periods of time in remote applications using a battery or solar power.
The controller provides two Ethernet ports - 10/100 and 10/100/1000 - that you can use to conduct programmatic communication over the network and built-in Web (HTTP) and
file (FTP) servers. The ports also are compatible with the NI 9144 C Series expansion chassis, so you can connect more deterministic I/O for your application.
To create additional storage capability for your embedded logging applications, the cRIO-9024 has a Hi-Speed USB host port to which you can connect external USB-based
storage media (flash drives and hard drives). In addition, the controller features a fault-tolerant file system that provides increased reliability for data-logging applications.
The CompactRIO real-time controller connects to any four- or eight-slot CompactRIO reconfigurable chassis. The user-defined FPGA circuitry in the chassis controls each I/O
module and passes data to the controller through a local PCI bus using built-in communication functions.

Embedded Software

31
www.ni.com

The cRIO-9024 runs NI LabVIEW Real-Time Module software on the Wind River VxWorks real-time operating system (RTOS) for extreme reliability and determinism. You can
now use leading VxWorks RTOS technology and LabVIEW graphical programming tools to quickly design, prototype, and deploy a customizable, commercial off-the-shelf
embedded system.
You can synchronize embedded code execution to an FPGA-generated interrupt request (IRQ) or an internal millisecond real-time clock source. The LabVIEW Real-Time ETS OS
provides reliability and simplifies the development of complete embedded applications that include time-critical control and acquisition loops in addition to lower-priority loops for
postprocessing, data logging, and Ethernet/serial communication. Built-in elemental I/O functions such as the FPGA Read/Write function provide a communication interface to the
highly optimized reconfigurable FPGA circuitry. Data values are read from the FPGA in integer format and then converted to scaled engineering units in the controller.

Figure 1. CompactRIO Software Architecture

Built-In Servers
In addition to programmatic communication via TCP/IP, UDP, Modbus/TCP, IrDA, and serial protocols, the CompactRIO controllers include built-in servers for Virtual Instrument
Software Architecture (VISA), HTTP, and FTP. The VISA server provides remote download and communication access to the reconfigurable I/O (RIO) FPGA over Ethernet. The
HTTP server provides a Web browser user interface to HTML pages, files, and the user interface of embedded LabVIEW applications through a Web browser plug-in. The FTP
server provides access to logged data or configuration files.
Back to Top

Ordering Information
For a complete list of accessories, visit the product page on ni.com.

Products

Part
Number

Recommended Accessories

Part
Number

781174-01

Connector Block: Not Applicable - NI 9978 4-pos screw terminal power supply plugs 196938-01
(quantity 5)

NI cRIO-9024
cRIO-9024, Real-Time PowerPC Controller for cRIO,
800 MHz
Requires:

Connector Block: Not Applicable - NI 9979 Strain relief kit for 4-pos power
connector

196939-01

Back to Top

Software Recommendations
LabVIEW Professional
Development System for
Windows

Advanced software tools for large project

development

NI LabVIEW FPGA Module

Automatic code generation using DAQ

Assistant and Instrument I/O Assistant

Design FPGA applications for NI

reconfigurable I/O (RIO) hardware targets
Program with the same graphical
environment used for desktop and real-time
applications

Tight integration with a wide range of

hardware

Execute control algorithms with loop rates up

to 300 MHz

Advanced measurement analysis and digital

signal processing

Implement custom timing and triggering logic,

digital protocols, and DSP algorithms

Open connectivity with DLLs, ActiveX, and

.NET objects

Incorporate existing HDL code and third-party

IP including Xilinx CORE Generator functions

Capability to build DLLs, executables, and

MSI installers

Included in the LabVIEW Embedded Control

and Monitoring Suite

32
www.ni.com

References
[1] I. Roytelman and V. Ganesan, Modeling of local controllers in distribution network applications, IEEE Trans. Power Del., vol. 15, no. 4, pp. 12321237, Oct. 2000.
[2] I. Dzafic, R. Jabr, E. Halilovic, and B. Pal, A sensitivity approach to model local voltage
controllers in distribution networks, IEEE Trans. Power Syst., vol. 29, no. 3, pp. 14191428,
May 2014.
[3] I. Roytelman and V. Ganesan, Coordinated local and centralized control in distribution management systems, IEEE Trans. Power Del., vol. 15, no. 2, pp. 718724, Apr. 2000.
[4] B. Robbins, C. Hadjicostis, and A. Dominguez-Garcia, A two-stage distributed architecture
for voltage control in power distribution systems, IEEE Trans. Power Syst., vol. 28, no. 2,
pp. 14701482, May 2013.
[5] H. Hatta, S. Uemura, and H. Kobayashi, Demonstrative study of control system for distribution system with distributed generation, in Power Syst. Conf. and Expo., Seattle, WA, Mar.
2009.
[6] J. Mahseredjian, V. Dinavahi, and J. Martinez, Simulation tools for electromagnetic transients
in power systems: overview and challenges, IEEE Trans. Power Del., vol. 24, no. 3, pp. 1657
1669, Jul. 2009.
[7] V. Dinavahi, M. Iravani, and R. Bonert, Real-time digital simulation of power electronic
apparatus interfaced with digital controllers, IEEE Trans. Power Del., vol. 16, no. 4, pp.
775781, Oct. 2001.
[8] A. Barry, F. Guay, S. Guerette, and P. Giroux, Digital real-time simulation for distribution
systems, in Transmission and Distribution Construction, Operation and Live-Line Maintenance Proc., Montreal, QC, 2000.
[9] X. Wu, H. Figueroa, and A. Monti, Testing of digital controllers using real-time hardware in
the loop simulation, in Power Electron. Specialists Conf., Aachen, Germany, Jun. 2004.
[10] M. Davarpanah, M. Sanaye-Pasand, and R. Iravani, A saturation suppression approach for
the current transformerpart II: performance evaluation, IEEE Trans. Power Del., vol. 28,
no. 3, pp. 19361943, Jul. 2013.
[11] E. Lelarasmee, A. E. Ruehli, and A. Sangiovanni-Vincentelli, The waveform relaxation
method for time-domain analysis of large scale integrated circuits, IEEE Trans. ComputAided Design of Integrated Circuits and Syst., vol. 1, no. 3, pp. 131145, Jul. 1982.

33